fix(lidar_centerpoint): updated the config file for the centerpoint tiny v2

[knzo25]

Description

When I uploaded the centerpoint tiny v2 I missed uploading the updated config file, which caused errors and an unnecessary bad performance.

The new file was tested in the environments in which the error arose

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[shmpwk]

I tested this more than 3 times in logging simulator and AWSIM simulator.
Without this PR, my centerpoint tiny v2 died.
With this PR, I confirmed everything works fine!

[taikitanaka3]

@yukke42
can you review this PR?

[yukke42]

LGTM

[yukke42]

@shmpwk Thank you for cheking it to work.

[lexavtanke]

Hello,
Sorry to mention, but It seem to me that there is a issue with this configuration with demo bag data in logging simulator. When I use it lidar_centerpoint can't produce bounding boxes and gives this warning:

[lidar_centerpoint_node-41] [WARN] [1679402682.492713175] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402682.707407694] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402682.898299740] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402683.322440747] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402683.513103993] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402683.734927234] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402683.937108600] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402684.148641184] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402684.347404019] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402684.544896785] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402684.767671966] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402684.976230420] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402685.401099385] [lidar_centerpoint]: No detected boxes.
[lidar_centerpoint_node-41] [WARN] [1679402685.630374434] [lidar_centerpoint]: No detected boxes.

I've started autoware loggin simulator with:
os2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit planning:=false

And with this command I've started playing ros2 bag:
ros2 bag play ~/autoware_map/sample-rosbag/sample.db3 -s sqlite3 -r 0.5 --loop

It happens on the main branch of autoware.universe. Here is the video. If I change the config file to its previous stage it works fine and produce bounding boxes. Here is the video.

Actually centerpoint still throws this warning as you can see in the end of the video but not so frequently.

[lexavtanke]

Also I dug a little bit deeper and this change cause it point_cloud_range: [-76.8, -76.8, -2.0, 76.8, 76.8, 4.0]

[yukke42]

@lexavtanke Thank you for the feedback. Cloud you try again after removing install/lidar_centerpoint and re-build?

[lexavtanke]

@yukke42 Yes, sure. It works strange, very unstable. Here is the video.

centerpoint_rebuild.mp4

[lexavtanke]

here is the video with old config file without rebuilding package.

centerpoint_old_config.mp4

[yukke42]

@lexavtanke I have checked only lidar_centerpoint node and there is no issue in my environment.
Cloud you let me know your PC spec? it look like that obejcts are detected but the outputs are so delayed.

[yukke42]

Or it might be an issue in another package. Please give me more time to check the behavior.

[lexavtanke]

My PC spec

[knzo25]

@lexavtanke
Sorry, I was supposed to attend to this problem but have been doing some other tasks.
The model was trained used the ranges I pushed so the fact that it works better for other ranges should be a coincidence.
I will try in another environment with a clean install and get back to you

[knzo25]

@lexavtanke
I installed autoware in a clean environment closer to yours

It works without any issues here.
Could you try the following command with this data? (the ply file is the result in my environment)

ros2 launch lidar_centerpoint single_inference_lidar_centerpoint.launch.xml pcd_path:=test_pointcloud.pcd detections_path:=test_detections.ply